3D Digitisation of Large-Scale Unstructured Great Wall Heritage Sites by a Small Unmanned Helicopter

A hierarchical optimization framework enables precise 3D digitization of large, unstructured segments of the Great Wall using a small, low-cost unmanned helicopter equipped with a laser scanner and digital camera. The system addresses challenges posed by unpredictable pose uncertainties during fly-hover-scan and flying-scan modes, which can lead to mismatches in point cloud data. By tailoring optimization methodologies to each scan mode, the framework ensures accurate reconstruction of the Wall's complex terrain. A WebGL-based interface facilitates 3D model visualization and comparison, demonstrating the approach's feasibility for heritage conservation efforts.

Deng, F., Zhu, X., Li, X., & Li, M. (2017). 3D Digitisation of Large-Scale Unstructured Great Wall Heritage Sites by a Small Unmanned Helicopter. Remote Sensing, 9(5), 423. https://doi.org/10.3390/rs9050423